# This represents a diagonal Cartesian stiffness
# It is motivated by the KDL class: http://people.mech.kuleuven.be/~rsmits/kdl/api/html/classKDL_1_1Stiffness.html
# The conversion would be straight-forward, however, a generic 6D stiffness matrix would be desirable

float64 x
float64 y
float64 z
float64 rx
float64 ry
float64 rz